├── .github ├── dependabot.yml └── workflows │ └── main.yml ├── README.md ├── license ├── problib ├── CMakeLists.txt ├── include │ └── problib │ │ ├── conversions.h │ │ ├── datatypes.h │ │ ├── globals.h │ │ └── pdfs │ │ ├── Gaussian.h │ │ ├── Hybrid.h │ │ ├── Mixture.h │ │ ├── PDF.h │ │ ├── PMF.h │ │ └── Uniform.h ├── package.xml ├── src │ ├── conversions.cpp │ ├── pdfs │ │ ├── Gaussian.cpp │ │ ├── Hybrid.cpp │ │ ├── Mixture.cpp │ │ ├── PDF.cpp │ │ ├── PMF.cpp │ │ └── Uniform.cpp │ └── test.cpp └── test │ └── problib_test_full ├── problib_msgs ├── CMakeLists.txt ├── msg │ ├── DimensionDescription.msg │ ├── PDF.msg │ └── PDFImpl.msg └── package.xml ├── wire ├── CMakeLists.txt ├── README.md └── package.xml ├── wire_core ├── CMakeLists.txt ├── database │ └── world_model.xml ├── include │ └── wire │ │ ├── WorldModelROS.h │ │ ├── core │ │ ├── ClassModel.h │ │ ├── Evidence.h │ │ ├── EvidenceSet.h │ │ ├── IStateEstimator.h │ │ ├── Property.h │ │ ├── PropertySet.h │ │ └── datatypes.h │ │ ├── logic │ │ ├── Assignment.h │ │ ├── AssignmentMatrix.h │ │ ├── AssignmentSet.h │ │ ├── HypothesesTree.h │ │ └── Hypothesis.h │ │ ├── models │ │ └── FixedState.h │ │ ├── storage │ │ ├── KnowledgeDatabase.h │ │ ├── ObjectStorage.h │ │ └── SemanticObject.h │ │ └── util │ │ └── ObjectModelParser.h ├── launch │ └── start.launch ├── models │ └── world_object_models.xml ├── package.xml ├── parameters │ └── world_model.yaml ├── src │ ├── WorldModelROS.cpp │ ├── core │ │ ├── ClassModel.cpp │ │ ├── Evidence.cpp │ │ ├── EvidenceSet.cpp │ │ ├── Property.cpp │ │ ├── PropertySet.cpp │ │ └── datatypes.cpp │ ├── dummy_evidence_publisher.cpp │ ├── logic │ │ ├── Assignment.cpp │ │ ├── AssignmentMatrix.cpp │ │ ├── AssignmentSet.cpp │ │ ├── HypothesesTree.cpp │ │ └── Hypothesis.cpp │ ├── models │ │ └── FixedState.cpp │ ├── storage │ │ ├── KnowledgeDatabase.cpp │ │ ├── ObjectStorage.cpp │ │ └── SemanticObject.cpp │ ├── util │ │ └── ObjectModelParser.cpp │ └── world_model.cpp └── test │ ├── test_parser.cpp │ ├── test_plugin.cpp │ ├── test_plugin.h │ ├── test_plugins.xml │ └── test_world_object_models.xml ├── wire_msgs ├── CMakeLists.txt ├── msg │ ├── ObjectEvidence.msg │ ├── ObjectState.msg │ ├── Property.msg │ ├── WorldEvidence.msg │ └── WorldState.msg └── package.xml ├── wire_state_estimators ├── CMakeLists.txt ├── include │ ├── DiscreteFilter.h │ ├── FixedState.h │ ├── KalmanFilter.h │ ├── MultiModelFilter.h │ └── PositionFilter.h ├── models_plugin.xml ├── package.xml └── src │ ├── DiscreteFilter.cpp │ ├── FixedState.cpp │ ├── KalmanFilter.cpp │ ├── MultiModelFilter.cpp │ └── PositionFilter.cpp ├── wire_tutorials ├── CMakeLists.txt ├── config │ ├── rviz_world_model_electric.vcg │ ├── rviz_world_model_fuerte.vcg │ ├── rviz_world_model_fuerte_full_screen.vcg │ └── rviz_world_model_kinetic.rviz ├── launch │ ├── rviz_wire_electric.launch │ ├── rviz_wire_fuerte.launch │ └── rviz_wire_kinetic.launch ├── package.xml └── src │ ├── generate_evidence.cpp │ └── get_world_state.cpp └── wire_viz ├── 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